CN108839002B - Wearable exoskeleton shoulder assistance device - Google Patents

Abstract

The wearable exoskeleton shoulder assisting equipment comprises a wearing part, a mounting base, a supporting frame and an arm mechanism; the arm mechanism comprises a frame, the frame is rotationally connected with a coil spring shell through a support shaft, the end head of the support shaft is connected with a ratchet pawl mechanism, a coil spring is arranged in the coil spring shell, the inner end head of the coil spring is connected with the support shaft, and the outer end head of the coil spring is connected with the inner wall of the coil spring shell; the side surface of the frame is rotationally connected with the swing arm through the connecting arm, one end of the arm frame is rotationally connected with the swing arm, and the other end of the arm frame is connected with the arm support; a limiting shaft is fixed on the outer side of the coil spring shell, one end of the limiting shaft is provided with a limiting end head, and the limiting end head is matched with the upper edge of the frame; one end of the steel cable is hung at the other end of the limiting shaft, and the other end of the steel cable is hung on a steel cable hanging shaft on the end head of the swing arm; the supporting shaft, the limiting shaft and the swinging arm shaft are mutually parallel, and the pin shaft and the swinging arm shaft are mutually perpendicular. Simple structure, light weight, high freedom, flexibility, reliability and comfortable wearing.

Description

Wearable exoskeleton shoulder assist device

Technical field

The invention relates to a power-assist device, in particular to a wearable exoskeleton shoulder power-assist device.

Background technique

The human shoulder is an extremely complex movement structure. Freedom and weight are often antagonistic in traditional shoulder-assisted exoskeleton devices. Such devices with complex structures and high degrees of freedom are heavy and cause discomfort when worn, such as the shoulder exoskeleton of EKSO Bionics. Lower-weight exoskeleton equipment often has certain limitations on shoulder freedom because its mechanical structure is relatively simple and its movement flexibility is poor. Ultra-high degree of freedom products are slightly inferior in terms of output force stability. The installation base part of the wearable exoskeleton shoulder assist device directly connects the mechanical part and the wearable part through various rigid connection methods, so that the force is concentrated on the connection, causing the wearer to feel obvious discomfort.

Contents of the invention

The object of the present invention is to provide a device with a simple structure, light overall weight, high degree of freedom, flexible and reliable movement, easy adjustment of the elastic force of the elastic member that generates power, comfortable and firm wearing part, and a flexible base, which can realize flexible support and reduce weight. A wearable exoskeleton shoulder assist device that uses personnel's fatigue to overcome the shortcomings of existing technology.

The wearable exoskeleton shoulder assist device of the present invention includes a wearing part, a mounting base connected to the wearing part, a support frame connected to the mounting base, and an arm mechanism installed on the support frame;

The arm mechanism includes a frame, a support shaft is provided on the frame, a coil spring housing is rotatably connected to the support shaft, a ratchet is fixed on the end of the support shaft, and the pawl matching the ratchet is connected to the frame through the pawl shaft. , a coil spring is provided in the coil spring housing, the inner end of the coil spring is connected to the support shaft, and the outer end of the coil spring is connected to the inner wall of the coil spring housing;

A connecting arm is fixed on the side of the frame, one end of the swing arm is rotationally connected to the connecting arm through the swing arm shaft, one end of the arm frame is rotationally connected to the other end of the swing arm through a pin, and the other end of the arm frame is connected to an arm support;

A limit shaft is fixed on the outside of the coil spring housing. One end of the limit shaft is equipped with a limit end, and the limit end matches the upper edge of the frame; one end of the steel cable is hooked to the other end of the limit shaft, and the steel cable The other end is hooked to the steel cable hanging shaft on the end of the swing arm;

The support shaft, limit shaft and swing arm shaft are arranged parallel to each other, and the pin shaft and the swing arm shaft are arranged perpendicular to each other.

The wearing part includes a belt, the front part of the belt has a belt elastic buckle, the lower end of the back connecting belt is relatively fixedly connected to the middle part of the back of the belt, the back connecting belt is provided with a length adjustment buckle, and the upper end of the back connecting belt is connected. There is a back plate, the upper sides of the back plate are connected to one end of the shoulder strap, the other end of the shoulder strap is connected to the middle area of the back of the belt, and there is a length adjustment buckle on the shoulder strap;

A chest strap is connected to the front between the two shoulder straps, and the chest strap is equipped with a chest strap elastic buckle;

There are left and right symmetrical straps fixed on the back of the back panel; there is a fixed strap for fixing the installation base on the outside of the lower end of the back connecting strap; there are symmetrical connecting straps connected to both sides of the belt, and the connecting straps are provided with tightening straps. Solid buckle.

The installation base includes a movement limiting seat bound by a fixed belt. A silicone elastic connecting plate is inserted into the movement limiting seat. The two ends of the silicone elastic connecting plate extend from the two ends of the movement limiting seat. The silicone elastic connecting plate The two ends are symmetrically connected with a connecting frame, and a connecting plate is fixed on the connecting frame. A long hole is provided on the connecting plate to penetrate the connecting belt. The connecting frame is provided with a jack for inserting and fixing the support rod in the supporting frame. .

The connection structure between the two ends of the silicone elastic connecting plate and the connecting frame is: mounting holes are provided at both ends of the silicone elastic connecting plate, and mounting holes corresponding to the mounting holes are provided at both ends of the pressure plate. The ends of the frame have mounting holes corresponding to the mounting holes. The two ends of the silicone elastic connection plate are clamped between the pressure plate and the connection frame, and the pressure plate, silicone elastic connection plate, and connection are connected through the pressure plate screws and each installation hole. The frames are fastened together; the connecting frame and the connecting plate are fixedly connected through connecting plate screws.

The support frame includes a support rod, the lower end of the support rod is fixedly inserted into the socket on the connection frame, the upper part of the support rod is bent and a reinforcing tie rod is connected at the bend, and the upper end of the support rod is The connecting piece is connected through the connecting arm shaft, and the frame is connected to the end of the connecting piece.

The end of the arm frame is fixed with a limit seat, the end of the limit seat is covered with the end of the swing arm, and there is a gap between the limit seat and the swing arm.

The wearable exoskeleton shoulder assist device of the present invention is a purely mechanical wearable assist device that does not require energy input. Its main function is to reduce the pressure and fatigue effects on the shoulders of workers during arm-raising work. Provides shoulder assistance to the wearer to complete long-term repetitive arm-raising work postures. This is a wearable exoskeleton device with a high degree of freedom. During work, the device can provide follow-up support for the wearer's arms to reduce the burden on the shoulders. Follow-up support refers to providing support for the wearer. At the same time, the wearer can still raise or lower the arm. This device requires no energy, and its support force output is provided by the coil spring in the device. Through the design of mechanical mechanism and coil spring, the wearer can gain freedom of movement and support at the same time. When the arm is pressed down, the elastic potential energy of the spring is stored. When the arm is raised upward, the elastic potential energy begins to be released and converted into mechanical energy to support the arm. In addition, during the process of pressing down the arm, due to the design of the mechanical mechanism, it is enough to store enough mechanical energy as long as the arm is drooped normally, and the arm does not need additional force to press down. The shoulder pivot and flexible support mounting base allow the device to have a high degree of freedom to accommodate the wearer's various movements. The connection between the flexible installation base and the belt connects the wearing part and the mechanical part through the connecting belt. The flexible installation base is flexible and the wearing method itself is also flexible. At the same time, the gravity is shifted from the back of the waist to the waist. The side distribution ensures that the entire belt is evenly stressed, and there will be no excessive local stress resulting in unstable wearing. It has the advantages of simple structure, light overall weight, high degree of freedom, flexible and reliable movement, easy adjustment of the elastic force of the elastic member that generates power, comfortable and firm wearing part, and flexible base, which can achieve flexible support and reduce the fatigue of the user.

Description of drawings

Figure 1 is a schematic three-dimensional structural diagram of a specific embodiment of the present invention.

Figure 2 is a schematic front view of a specific embodiment of the present invention.

FIG. 3 is a schematic rear view of FIG. 2 .

Figure 4 is a schematic three-dimensional structural diagram of the arm mechanism in the specific embodiment of the present invention.

Figure 5 is a schematic exploded view of the installation base in the specific embodiment of the present invention.

Figure 6 is a schematic three-dimensional structural diagram of the wearing part in the specific embodiment of the present invention.

Figure 7 is a schematic front view of the wearing part in the specific embodiment of the present invention.

FIG. 8 is a schematic rear view of FIG. 7 .

Detailed ways

As shown in Figures 1, 2, and 3: the wearable exoskeleton shoulder assist device of the present invention includes a wearing part, a mounting base connected to the wearing part, a support frame connected to the mounting base, and a support frame installed on the support frame. arm mechanism.

As shown in Figure 4: the arm mechanism includes a groove-shaped frame 51. A support shaft 50 is provided on the frame 51. A coil spring housing 52 is rotatably connected to the support shaft 50. The coil spring housing 52 is located in the groove of the frame 51. The side of the coil spring housing 52 is fixedly connected with a coil spring housing cover 66 through screws. A ratchet 63 is fixedly mounted on the end of the support shaft 50 , and the ratchet 63 is located outside the frame 51 . The pawl 64 matching the ratchet wheel 63 is connected to the frame 51 through the pawl shaft 65 . A coil spring is provided in the coil spring housing 52 , and the inner end of the coil spring is connected to the support shaft 50 , that is, the end is inserted into the elongated gap on the support shaft 50 . The outer end of the coil spring is connected to the inner wall of the coil spring housing 52, that is, inserted into the long slot on the inner wall of the south body 52 of the coil spring.

A connecting arm 55 is fixed on the side of the frame 51 . One end of the swing arm 56 is rotationally connected to the connecting arm 55 through a swing arm shaft 70 . The swing arm 56 can rotate relative to the connecting arm 55 . One end of the arm frame 58 is rotationally connected to the other end of the swing arm 56 through a pin 57, and the other end of the arm frame 58 is connected to an arm support 59.

A limiting shaft 54 is fixed on the outside of the coil spring housing 52. One end of the limiting shaft 54 is equipped with a limiting end 53. The limiting end 53 matches the upper edge 71 of the frame 51, that is, the spring shell is coiled under the action of the coil spring. After the body 52 is rotated in place, the limiting end 53 just abuts against the upper edge 71 of the frame 51 . One end of the steel cable 62 is connected to the other end of the limiting shaft 54 , and the other end of the steel cable 62 is connected to the steel cable hanging shaft 61 on the end of the swing arm 56 .

The support shaft 50, the limiting shaft 54, and the swing arm shaft 70 are arranged parallel to each other, and the pin shaft 57 and the swing arm shaft 70 are arranged perpendicular to each other.

As shown in Figures 6, 7, and 8: the wearing part includes a belt 1. The front part of the belt 1 has a belt elastic buckle 2 for tightening or loosening the belt. The lower end of the back connecting belt 8 is relatively fixedly connected to the rear middle part of the belt 1, and the back connecting belt 8 is provided with a length adjustment buckle 9. The upper end of the back connecting belt 8 is connected to the back plate 6 . The upper sides of the back plate 6 are connected to one end of the shoulder strap 3, and the other end of the shoulder strap 3, that is, the shoulder strap end 12, is connected to the rear middle area of the belt 1. The shoulder strap 3 is provided with a length adjustment card. buckle, forming two symmetrical left and right shoulder strap structures.

A transverse chest strap 4 is connected to the front side between the two shoulder straps 3, and the chest strap 4 is provided with a chest strap elastic buckle 5.

The left and right symmetrical straps 7 are fixed on the back of the back panel 6 . On the outside of the lower end of the back connection belt 8, there is a fixing belt 11 for fixing the installation base. Symmetrical connecting belts 10 are respectively connected to both sides of the belt 1, and the connecting belts 10 are provided with fastening buckles.

Each of the above-mentioned buckles can use buckles with the same structure as buckles for various types of backpacks, as long as the length of the belt can be adjusted or the relative snaps (that is, it plays a connecting role) can be used. In order to increase the strength, the material and structural specifications can be adjusted. Change with purpose.

As shown in Figure 5: the installation base includes a movement limiting seat 30 bound by a fixed belt 11. A silicone elastic connecting plate 31 is inserted into the movement limiting seat 30. The two ends of the silicone elastic connecting plate 31 are free from the movement limiting seat 30. Both ends extend out, and the two ends of the silicone elastic connecting plate 31 are symmetrically connected to the connecting frames 34 . A connecting plate 35 is fixed on each connecting frame 34 , and a long hole 36 for penetrating the connecting belt 10 is provided on the connecting plate 35 . The connection frame 34 is provided with an insertion hole 37 for inserting and fixing the support rod 38 in the support frame.

The connection structure between the two ends of the silicone elastic connecting plate 31 and the connecting frame 34 is: mounting holes are provided at both ends of the silicone elastic connecting plate 31, and mounting holes corresponding to the aforementioned mounting holes are provided at both ends of the pressure plate 32. The end of the frame 34 has a mounting hole corresponding to the aforementioned mounting hole. The two ends of the silicone elastic connecting plate 31 are clamped between the pressing plate 32 and the connecting frame 34 and the pressing plate 32 and the silicone elastic connecting plate 32 are connected through the pressing plate screws 33 and each mounting hole. The connecting plate 31 and the connecting frame 34 are fastened together. The connecting frame 34 and the connecting plate 35 are fixedly connected through connecting plate screws 39 .

As shown in Figure 3: the support frame includes a support rod 38, the lower end of the support rod 38 is fixedly inserted into the socket 37 on the connection frame 34, and is tightened and fixed by a jackscrew. The upper part of the support rod 38 is bent and a reinforcing tie bar 69 is connected to the bent part. A connecting member 67 is connected to the upper end of the support rod 38 through a connecting arm shaft 68. The frame 51 is fixedly connected to the end of the connecting member 67.

As shown in Figure 4: the end of the arm frame 58 is fixed with a limit seat 60. The end of the limit seat 60 is covered with the end of the swing arm 56. There is a gap between the limit seat 60 and the swing arm 56. When the arm frame 58 rotates along the pin shaft 57 , the rotation angle can be limited by the limiting seat 60 .

As shown in Figures 1, 2, and 3: the support rod 38 and the arm mechanism are two groups, forming a left-right symmetrical structure.

When in use, it is worn on the operator's upper body through the wearing part, and is fastened with the belt 1 and the belt elastic buckle 2 on the front side. The length of the shoulder strap 3 is adjusted to a moderate level, and the chest strap 4 is adjusted to a moderate position using the chest strap elastic buckle 5. Wear the device securely.

In the wearable exoskeleton shoulder assist device of the present invention, the elastic force of the arm mechanism is provided by the coil spring placed in the coil spring housing 52 and the coil spring housing cover 66 . Both ends of the steel cable 62 are connected to the limiting shaft 54 and the steel cable hanging shaft 61 on the outside of the coil spring housing 52 respectively. After wearing, the arm support 59 holds the arm, and the elastic force formed by the coil spring causes the coil spring housing to move along the support shaft 50 Rotate counterclockwise (as shown in Figure 4), and when there is no arm resistance, the limiting end 53 will lean against the upper edge 71 of the frame 51, that is, the upper edge 71 plays a limiting role. When an arm is pressed down, the arm frame 58 and the swing arm 56 rotate clockwise along the swing arm axis 70. At the same time, the steel cable 62 pulls the coil spring housing 52 to rotate clockwise. At this time, it overcomes the elastic force of the coil spring and reserves mechanical energy. The steel cable 62 can be hung on the end of the swing arm shaft 70 and formed into a bent state. When the arm is raised for work, an upward force is formed on the arm under the action of elasticity, achieving the purpose of assisting the exoskeleton shoulder. The ratchet wheel 63 and the pawl 64 can adjust the pre-tightening force of the coil spring. When the arm is pressed down normally, it can overcome the elastic force of the coil spring without pressing down hard. The arm mechanism is rotationally connected to the support rod 38 in the support frame through the connecting arm shaft 68. During use, the swing arm 56 of the matched swing arm 56 relative to the swing arm shaft 70 and the arm frame 58 rotate relative to the pin 57 can achieve high freedom. With a high degree of movement and a flexible installation base, this device has a simple structure, light overall weight, high degree of freedom, flexible and reliable movement, easy adjustment of the elastic force of the power-assisted elastic member, comfortable and firm wearing part, and a flexible base. , can achieve flexible support and reduce the fatigue of users.

Claims (6)

1. A wearable exoskeleton shoulder assist device, including a wearing part, a mounting base connected to the wearing part, a support frame connected to the mounting base, and an arm mechanism installed on the support frame; It is characterized in that: the arm mechanism includes a frame (51), a support shaft (50) is provided on the frame (51), a coil spring housing (52) is rotatably connected to the support shaft (50), and the support shaft (50) ) The end is fixed with a ratchet (63), and the pawl (64) matching the ratchet (63) is connected to the frame (51) through the pawl shaft (65). There is a coil inside the coil spring housing (52). Spring, the inner end of the coil spring is connected to the support shaft (50), and the outer end of the coil spring is connected to the inner wall of the coil spring housing (52); A connecting arm (55) is fixed on the side of the frame (51). One end of the swing arm (56) is rotationally connected to the connecting arm (55) through the swing arm shaft (70). One end of the arm frame (58) is connected through a pin (57). ) is rotationally connected to the other end of the swing arm (56), and the other end of the arm frame (58) is connected to an arm support (59); A limit shaft (54) is fixed on the outside of the coil spring housing (52). One end of the limit shaft (54) is equipped with a limit end (53). The limit end (53) is connected to the upper edge (51) of the frame (51). 71) to match; one end of the steel cable (62) is connected to the other end of the limit shaft (54), and the other end of the steel cable (62) is connected to the steel cable hanging shaft (56) on the end of the swing arm (56). 61) on; The support shaft (50), the limit shaft (54), and the swing arm shaft (70) are arranged parallel to each other, and the pin shaft (57) and the swing arm shaft (70) are arranged perpendicular to each other. 2. The wearable exoskeleton shoulder assist device according to claim 1, characterized in that: the wearing part includes a belt (1), the front part of the belt (1) has a belt elastic buckle (2), and the back part The lower end of the connecting belt (8) is relatively fixedly connected to the middle part of the back of the belt (1). The back connecting belt (8) is provided with a length adjustment buckle (9), and the upper end of the back connecting belt (8) is connected to a back plate ( 6), the upper sides of the back panel (6) are connected to one end of the shoulder strap (3), and the other end of the shoulder strap (3) is connected to the middle area behind the belt (1). There is a length adjustment buckle on the top; A chest strap (4) is connected to the front between the two shoulder straps (3), and the chest strap (4) is provided with a chest strap elastic buckle (5); A left-right symmetrical strap (7) is fixed on the back of the back plate (6); on the outside of the lower end of the back connecting strap (8), there is a fixed strap (11) for fixing the installation base; on both sides of the belt (1) The two sides are respectively connected with symmetrical connecting belts (10), and the connecting belts (10) are provided with fastening buckles. 3. The wearable exoskeleton shoulder assist device according to claim 1 or 2, characterized in that: the installation base includes a movement restriction seat (30) bound by a fixed belt (11), and the movement restriction seat is (30) is equipped with a silicone elastic connecting plate (31). The two ends of the silicone elastic connecting plate (31) protrude from the two ends of the movement restriction seat (30). The two ends of the silicone elastic connecting plate (31) are symmetrically connected. There is a connecting frame (34), and a connecting plate (35) is fixed on the connecting frame (34). A long hole (36) for penetrating the connecting belt (10) is provided on the connecting plate (35). On the connecting frame (34) A socket (37) for inserting and fixing the support rod (38) in the support frame is provided. 4. The wearable exoskeleton shoulder assist device according to claim 3, characterized in that: the connection structure between the two ends of the silicone elastic connecting plate (31) and the connecting frame (34) is: in the silicone elastic connection Mounting holes are provided at both ends of the plate (31), mounting holes corresponding to the mounting holes are provided at both ends of the pressure plate (32), and there are mounting holes corresponding to the mounting holes at the end of the connecting frame (34). The two ends of the silicone elastic connection plate (31) are clamped between the pressure plate (32) and the connection frame (34), and the pressure plate (32) and the silicone elastic connection plate are connected through the pressure plate screws (33) and each installation hole. (31) and the connecting frame (34) are fastened together; the connecting frame (34) and the connecting plate (35) are fixedly connected through the connecting plate screws (39). 5. The wearable exoskeleton shoulder assist device according to claim 4, characterized in that: the support frame includes a support rod (38), and the lower end of the support rod (38) is fixedly inserted into the connection frame (34 ), the upper part of the support rod (38) is bent and connected with a reinforcing tie rod (69) at the bend, and the upper end of the support rod (38) is connected through the connecting arm shaft (68) A connecting piece (67) is connected, and the frame (51) is connected to the end of the connecting piece (67). 6. The wearable exoskeleton shoulder assist device according to claim 5, characterized in that: the end of the arm frame (58) is fixed with a limited seat (60), and the end of the limited seat (60) The cover is on the end of the swing arm (56), and there is a gap between the limit seat (60) and the swing arm (56).